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ManuETR / thesis

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ControllerComponent & ROSCommunicationComponent #7

Open ManuETR opened 1 month ago

ManuETR commented 1 month ago

I was able to find out how the ControllerComponentBuilder and ROSCommunicationComponentBuilder assign their respecitve components to robotic models.

ManuETR commented 1 month ago

This is the result of manually changing the desired joint states map. The next part is to see how i can make the plugin listin to a JointState node via the ROSBridge.

grafik

ManuETR commented 3 weeks ago

I finally made some progress in publishing the joint states to the /joint_state topic. The problem was, that the normally the Plugin retrieves what joints to publish via the rosapi get_param service. But somehow i could not get this service to forwared the needed information. For now i just publish all joint states by retrieving the list of joints from the ARModel.